FAULHABER Motion Control Systems LM-Motors ... - MicroMo

3 CANopen protocol description3.4 Emergency object (error message)The emergency object informs other bus devices of errors that have occurred.The size of the emergency object is always 8 bytes and its structure is as follows:11 bit identifier 8 bytes user data0x80 (128d) + Node ID Error0 (LB) Error1 (HB) Error reg. FE0 (LB) FE1 (HB) 0 0 0The first two bytes contain the 16 bit error code, the third byte contains the error register (contentof object 0x1001), bytes 4 and 5 contain the 16 bit FAULHABER error register (content of object0x2320), the remaining bytes are unused (always 0).The error register identifies the error type. The individual error types are bit coded and are assignedthe respective error codes in the following table. The object 0x1001 can be used to query the lastvalue of the error register.The following error code table lists all errors reported by emergency message frames, provided thecorresponding error is set in the emergency mask for the FAULHABER error register (see Chapter 4.8“Error handling”). Only those errors for which an emergency mask is given in this table are reported.Emergency error codesError code Error Emergency mask Error register bit0x0000No error0x1000 Generic error 00x2000Current0x2300Current, device output side0x2310 Continuous over current 0x0001 10x3000Voltage0x3200Voltage inside the device0x3210 Over voltage 0x0004 20x4000Temperature0x4300Drive temperature0x4310 Over temperature 0x0008 30x5000Device hardware0x5500Data storage0x5530 Flash memory error 0x0010 50x6000Device software0x6100 Internal software 0x1000 50x8000Monitoring0x8100Communication0x8110 CAN overrun (objects lost) 0x0080 40x8120 CAN in error passive mode 0x0040 40x8130 Life guard or heartbeat error 0x0100 40x8140 Recovered from bus off 0x0200 40x8200Protocol error0x8210PDO not processed due to length 0x4000 4error0x8220 PDO length exceeded 0x2000 40x8400 Velocity speed controller (deviation) 0x0002 50x8600Positioning controller0x8611 Following error (deviation) 0x0002 50xFF00Device specific0xFF01 Conversion overflow 0x0800 022